Granted Patent B2

US 12,197,221 · App. 17/629,634 · Granted Jan 14, 2025

Inventor: Takamori Yamaguchi (Tokyo, JP)

Assignee: SONY GROUP CORPORATION

G05D1/0214B25J13/081G01C21/3415G05D1/0088G05D1/0227

Abstract

Claims (62)

1. An information processing apparatus, comprising:

one or more processors configured to:

analyze a plurality of travel route candidates for a mobile object, wherein the mobile object is associated with a flexible virtual bumper;

execute, for each of the plurality of travel route candidates, a simulation that changes the flexible virtual bumper in at least one of a shape or a size to avoid entry of a first obstacle in the flexible virtual bumper;

select, based on the executed simulation, a safe travel route from the plurality of travel route candidates, wherein the safe travel route avoids contact of the flexible virtual bumper with the first obstacle;

change, based on the selected safe travel route, the flexible virtual bumper to maintain a space between the mobile object and the first obstacle, wherein the space is equal to or larger than a distance; and

drive the mobile object on the selected safe travel route with the changed flexible virtual bumper.

2. The information processing apparatus according to claim 1 , wherein

the size of the flexible virtual bumper is larger than an allowable size, and

the allowable size corresponds to a size of the mobile object.

3. The information processing apparatus according to claim 1 , wherein the one or more processors are further configured to:

execute, for each one of a plurality of analysis points set on a route of the plurality of travel route candidates, the simulation; and

select, based on the executed simulation for each one of the plurality of analysis points, the safe travel route.

4. The information processing apparatus according to claim 1 , wherein the one or more processors are further configured to generate a travel route candidate analysis list that records a result of the execution of the simulation.

5. The information processing apparatus according to claim 4 , wherein the one or more processors are further configured to record, in the travel route candidate analysis list, bumper size transition data, wherein the bumper size transition data includes a result of the change in the at least one of the size or the shape of the flexible virtual bumper to travel on each of the plurality of travel route candidates.

6. The information processing apparatus according to claim 1 , wherein

the one or more processors are further configured to execute valid/rejected determination process on the plurality of travel route candidates, and wherein

a first one or more travel route candidates of the plurality of travel route candidates, that allows for a setting where the flexible virtual bumper is changed in the at least one of the size or the shape

to avoid the entry of the first obstacle in the flexible virtual bumper, are set as one or more valid travel route candidates, and

a second one or more travel route candidates of the plurality of travel route candidates, that prevents the setting where the flexible virtual bumper is changed in the at least one of the size or the shape to avoid the entry of the first obstacle in the flexible virtual bumper, are set as one or more rejected travel route candidates, and

record a result of the execution of the valid/rejected determination process in a travel route candidate analysis list.

7. The information processing apparatus according to claim 6 , wherein the one or more processors are further configured to:

select the one or more valid travel route candidates from the travel route candidate analysis list; and

determine the safe travel route from the selected one or more valid travel route candidates.

8. The information processing apparatus according to claim 7 , wherein the one or more processors are further configured to:

execute a sorting process, based on a priority order, on the selected one or more valid travel route candidates; and

determine the safe travel route based on the execution of sorting process.

9. The information processing apparatus according to claim 8 , wherein the selected one or more valid travel route candidates are sorted in one of:

(a) a descending order of an average bumper size,

(b) an ascending order of the average bumper size, or

(c) an ascending order of a route travel distance.

10. The information processing apparatus according to claim 1 , further comprising a sensor configured to detect the first obstacle.

11. The information processing apparatus according to claim 1 , wherein

the mobile object is an automatic traveling robot, and

the flexible virtual bumper surrounds the automatic traveling robot.

12. The information processing apparatus according to claim 11 , wherein

the automatic traveling robot includes a charging contact, and

the one or more processors are further configured to set the flexible virtual bumper in a planar position of a position of the charging contact.

13. The information processing apparatus according to claim 1 , wherein

the one or more processors are further configured to set the shape of the flexible virtual bumper with a clearance on a side of the first obstacle larger than a clearance on a side of a second obstacle, and

the first obstacle is of a higher priority of avoidance compared to the second obstacle.

14. The information processing apparatus according to claim 1 , wherein

the mobile object is a load carrying vehicle, and

the one or more processors are further configured to:

set the flexible virtual bumper to surround the load carrying vehicle in a case where the load carrying vehicle is empty; and

set the flexible virtual bumper to surround the load carrying vehicle and a load in a case where the load carrying vehicle carries the load.

15. The information processing apparatus according to claim 1 , wherein

the mobile object is a hand-shaped robot configured to perform a grasping operation,

the one or more processors are further configured to set the flexible virtual bumper to surround an arm portion of the hand-shaped robot, and

the flexible virtual bumper is set to allow a fingertip of the hand-shaped robot to grip or touch an object.

16. An information processing method, comprising:

analyzing a plurality of travel route candidates for a mobile object, wherein the mobile object is associated with a flexible virtual bumper;

executing, for each of the plurality of travel route candidates, a simulation that changes the flexible virtual bumper in at least one of a shape or a size to avoid entry of a first obstacle in the flexible virtual bumper;

selecting, based on the executed simulation, a safe travel route from the plurality of travel route candidates, wherein the safe travel route avoids contact of the flexible virtual bumper with the first obstacle;

changing, based on the execution of the selected safe travel route, the flexible virtual bumper for maintaining a space between the mobile object and an obstacle, wherein the space is equal to or larger than a distance; and

driving the mobile object on the selected safe travel route with the changed flexible virtual bumper.

17. A non-transitory computer-readable medium, having stored thereon, computer-executable instructions that, when executed by an information processing apparatus, causes the information processing apparatus to execute operations, the operations comprising:

analyzing a plurality of travel route candidates for a mobile object, wherein the mobile object is associated with a flexible virtual bumper;

executing, for each of the plurality of travel route candidates, a simulation that changes the flexible virtual bumper in at least one of a shape or a size to avoid entry of a first obstacle in the flexible virtual bumper;

selecting, based on the executed simulation, a safe travel route from the plurality of travel route candidates, wherein the safe travel route avoids contact of the flexible virtual bumper with the first obstacle;

changing, based on the execution of the selected safe travel route, the flexible virtual bumper for maintaining a space between the mobile object and an obstacle, wherein the space is equal to or larger than a distance; and

on the selected safe travel route with the changed flexible virtual bumper.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (16)